{"id":"https://openalex.org/W1771182989","doi":"https://doi.org/10.1109/tcst.2016.2601624","title":"Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot","display_name":"Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot","publication_year":2016,"publication_date":"2016-09-23","ids":{"openalex":"https://openalex.org/W1771182989","doi":"https://doi.org/10.1109/tcst.2016.2601624","mag":"1771182989"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2016.2601624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2601624","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1506.09084","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Timm Faulwasser","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH","DE"],"is_corresponding":false,"raw_author_name":"Timm Faulwasser","raw_affiliation_strings":["Institute for Applied Computer Science, Karlsruhe Institute of Technology, Karlsruhe, Germany","Laboratoire d\u2019Automatique, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Laboratoire d\u2019Automatique, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tobias Weber","orcid":null},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Weber","raw_affiliation_strings":["Institute for Mathematical Optimization, Otto-von-Guericke University Magdeburg, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Mathematical Optimization, Otto-von-Guericke University Magdeburg, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Pablo Zometa","orcid":null},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pablo Zometa","raw_affiliation_strings":["Institute for Automation Engineering, Otto-von-Guericke University Magdeburg, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Automation Engineering, Otto-von-Guericke University Magdeburg, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]},{"author_position":"last","author":{"id":null,"display_name":"Rolf Findeisen","orcid":null},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rolf Findeisen","raw_affiliation_strings":["Institute for Automation Engineering, Otto-von-Guericke University Magdeburg, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Automation Engineering, Otto-von-Guericke University Magdeburg, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.6831,"has_fulltext":true,"cited_by_count":137,"citation_normalized_percentile":{"value":0.97878433,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"25","issue":"4","first_page":"1505","last_page":"1511"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.4332999885082245,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.4332999885082245,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.06700000166893005,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.051100000739097595,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7699999809265137},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.6572999954223633},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5839999914169312},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5559999942779541},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5249999761581421},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5056999921798706},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5042999982833862},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4699999988079071}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7699999809265137},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.6572999954223633},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6053000092506409},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5839999914169312},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5559999942779541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.546500027179718},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5249999761581421},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5056999921798706},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5042999982833862},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4699999988079071},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4260999858379364},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41760000586509705},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3912999927997589},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3833000063896179},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.3068000078201294},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2971999943256378},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2904999852180481},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27149999141693115},{"id":"https://openalex.org/C5941749","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Machine tool","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C167123822","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automatic control","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcst.2016.2601624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2601624","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1506.09084","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1506.09084","pdf_url":"https://arxiv.org/pdf/1506.09084","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:209280","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/209280","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:209280","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/115493","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1506.09084","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1506.09084","pdf_url":"https://arxiv.org/pdf/1506.09084","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1771182989.pdf","grobid_xml":"https://content.openalex.org/works/W1771182989.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1574221391","https://openalex.org/W1724370735","https://openalex.org/W1873756947","https://openalex.org/W1970412155","https://openalex.org/W1990912264","https://openalex.org/W1999648900","https://openalex.org/W2004117707","https://openalex.org/W2030766364","https://openalex.org/W2039166158","https://openalex.org/W2044494131","https://openalex.org/W2070412653","https://openalex.org/W2088238695","https://openalex.org/W2131062657","https://openalex.org/W2142981033","https://openalex.org/W2144063905","https://openalex.org/W2158055488","https://openalex.org/W2178013102"],"related_works":["https://openalex.org/W2510430985","https://openalex.org/W2135217555","https://openalex.org/W2385861654","https://openalex.org/W2356710096","https://openalex.org/W2382616948","https://openalex.org/W3100966471","https://openalex.org/W2059838542","https://openalex.org/W3030346934","https://openalex.org/W1567720727","https://openalex.org/W2550398469"],"abstract_inverted_index":{"Many":[0],"robotic":[1],"applications,":[2],"such":[3],"as":[4],"milling,":[5],"gluing,":[6],"or":[7],"high":[8],"precision":[9],"measurements,":[10],"require":[11],"the":[12,22,50,56],"precise":[13],"following":[14,40],"of":[15,26,52,55],"a":[16,63],"predefined":[17],"geometric":[18],"path.":[19],"We":[20,35],"investigate":[21],"real-time":[23],"feasible":[24],"implementation":[25,54],"model":[27,58],"predictive":[28,59],"path-following":[29,60],"control":[30],"for":[31],"an":[32,53],"industrial":[33],"robot.":[34,67],"consider":[36],"constrained":[37],"output":[38],"path":[39],"with":[41],"and":[42],"without":[43],"reference":[44],"speed":[45],"assignment.":[46],"Finally,":[47],"we":[48],"present":[49],"results":[51],"proposed":[57],"controller":[61],"on":[62],"KUKA":[64],"LWR":[65],"IV":[66]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2016-06-24T00:00:00"}
